class
ZeroVelocityStateDynamicsThe ZeroVelocityStateDynamics class is a concrete implementation of the Dynamics.
Please use this element if you do not know the specific dynamics of a state variable. The ZeroVelocityStateDynamics represents the following equation in the continuous time:
In the discrete time the following dynamics assigns the current state to the next state:
Base classes
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> paramHandler) -> bool override - Initialize the state dynamics.
-
auto finalize(const System::
VariablesHandler& stateVariableHandler) -> bool override - Finalize the Dynamics.
- auto setSubModels(const std::vector<SubModel>& subModelList, const std::vector<std::shared_ptr<KinDynWrapper>>& kinDynWrapperList) -> bool override
- Set the KinDynWrapper object.
- auto update() -> bool override
- Update the content of the element.
- void setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) override
- Set the state of the ukf needed to update the dynamics of the state/measurement variable associated to ths object.
- void setInput(const UKFInput& ukfInput) override
- Set a
UKFInput
object.
Private functions
- auto checkStateVariableHandler() -> bool override
- Controls whether the variable handler contains the variables on which the dynamics depend.
Function documentation
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: ZeroVelocityStateDynamics:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> paramHandler) override
Initialize the state dynamics.
Parameters | |
---|---|
paramHandler | pointer to the parameters handler. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: ZeroVelocityStateDynamics:: finalize(const System:: VariablesHandler& stateVariableHandler) override
Finalize the Dynamics.
Parameters | |
---|---|
stateVariableHandler | object describing the variables in the state vector. |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: ZeroVelocityStateDynamics:: setSubModels(const std::vector<SubModel>& subModelList,
const std::vector<std::shared_ptr<KinDynWrapper>>& kinDynWrapperList) override
Set the KinDynWrapper object.
Parameters | |
---|---|
subModelList | list of SubModel objects |
kinDynWrapperList | list of pointers to KinDynWrapper objects. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: ZeroVelocityStateDynamics:: update() override
Update the content of the element.
Returns | True in case of success, false otherwise. |
---|
void BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: ZeroVelocityStateDynamics:: setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) override
Set the state of the ukf needed to update the dynamics of the state/measurement variable associated to ths object.
Parameters | |
---|---|
ukfState | reference to the ukf state. |
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: ZeroVelocityStateDynamics:: checkStateVariableHandler() override private
Controls whether the variable handler contains the variables on which the dynamics depend.
Returns | True in case all the dependencies are contained in the variable handler, false otherwise. |
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